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DHBW-Smart-Rollerz · Aug 23, 2024 · 194901e · 194901e
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diff --git a/.github/workflows/build-test.yaml b/.github/workflows/build-test.yaml
@@ -0,0 +1,17 @@
+name: Build Test
+
+on:
+  push:
+    branches:
+      - jazzy*
+  pull_request:
+    branches:
+      - jazzy*
+
+jobs:
+  call-build-and-test:
+    uses: DHBW-Smart-Rollerz/smarty_workspace/.github/workflows/base.yaml@jazzy
+    with:
+      branch_pattern: 'jazzy*'
+      type: 'python'
+      package_name: 'ros2_example_package'
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,162 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
+.pdm.toml
+.pdm-python
+.pdm-build/
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,44 @@
+repos:
+  - repo: https://github.com/psf/black
+    rev: 23.1.0  # Use the latest version
+    hooks:
+      - id: black
+        args:
+          - --line-length=88
+
+  - repo: https://github.com/pre-commit/mirrors-isort
+    rev: v5.10.1  # Use the latest version
+    hooks:
+      - id: isort
+        args:
+          - --profile=black
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0  # this is optional, use `pre-commit autoupdate` to get the latest rev!
+    hooks:
+    -   id: check-yaml
+    -   id: end-of-file-fixer
+    -   id: trailing-whitespace
+    -   id: check-added-large-files
+        args:
+          - --maxkb=30000000
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-xml
+    -   id: pretty-format-json
+        args:
+          - --autofix
+
+  - repo: https://github.com/pycqa/pydocstyle
+    rev: 4.0.0  # pick a git hash / tag to point to
+    hooks:
+    - id: pydocstyle
+      args:
+      - --ignore=D401,D417,D100,D407,D406,D413,D212,D203,D104,D205
+
+  - repo: https://github.com/DHBW-Smart-Rollerz/smarty_hooks
+    rev: v0.1.1
+    hooks:
+      - id: ament_uncrustify
+
+exclude: '.vscode/'
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 DHBW Smart Rollerz
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
@@ -0,0 +1,53 @@
+# ROS2 Example Package
+
+[![Build Test](https://github.com/DHBW-Smart-Rollerz/ros2_exaple_package/actions/workflows/build-test.yaml/badge.svg)](https://github.com/DHBW-Smart-Rollerz/ros2_exaple_package/actions/workflows/build-test.yaml)
+
+This repository contains an example package for ros2 (python).
+
+## Usage
+
+This repository can be used as template. Simply select this repo when creating a new repository under template.
+
+Alternatively, you can create python ros packages with:
+
+```bash
+# If not already created
+mkdir -p ~/ros2_ws/src
+cd ~/ros2_ws/src
+
+# Create package
+ros2 pkg create my_package --build-type ament_python --dependencies rclpy
+
+# Build
+cd ~/ros2_ws/src
+colcon build --symlink-install --packages-select my_package
+```
+
+## Structure
+
+- `config/`: All configurations (most of the time yaml files)
+- `launch/`: Contains all launch files. Launch files can start multiple nodes with yaml-configurations
+- `models/`: Contains all models (optional) and only necessary for machine learning nodes
+- `resource/`: Contains the package name (required to build with colcon)
+- `ros2_example_package`: Contains all nodes and sources for the ros package
+- `test/`: Contains all tests
+- `package.xml`: Contains metadata about the package
+- `setup.py`: Used for Python package configuration
+- `setup.cfg`: Additional configuration for the package
+- `requirements.txt`: Python dependencies
+
+## Contributing
+
+Thank you for considering contributing to this repository! Here are a few guidelines to get you started:
+
+1. Fork the repository and clone it locally.
+2. Create a new branch for your contribution.
+3. Make your changes and ensure they are properly tested.
+4. Commit your changes and push them to your forked repository.
+5. Submit a pull request with a clear description of your changes.
+
+We appreciate your contributions and look forward to reviewing them!
+
+## License
+
+This repository is licensed under the MIT license. See [LICENSE](LICENSE) for details.
diff --git a/config/model.yaml b/config/model.yaml
@@ -0,0 +1,4 @@
+# Config of the model. Independent of the ROS system.
+
+model_path: 'models/model.pkl'
+# ...
diff --git a/config/ros_params.yaml b/config/ros_params.yaml
@@ -0,0 +1,16 @@
+# This file contains example node parameters.
+ros2_example_node:
+  ros__parameters:
+    # Path of the debug image
+    image_path: 'resources/img/example.png'
+
+    # Path of the model
+    model_config_path: 'config/model.yaml'
+
+    # Topics for an example publisher and subscriber
+    image_topic: '/camera/undistorted'
+    result_topic: '/example/result'
+    debug_image_topic: '/example/debug_image'
+
+    # Some example value with a unit
+    example_value: 500 # in px
diff --git a/launch/ros2_example.launch.py b/launch/ros2_example.launch.py
@@ -0,0 +1,46 @@
+import os
+
+from ament_index_python import get_package_share_directory
+from launch_ros.actions import Node
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    """
+    Generate the launch description.
+
+    Returns:
+        LaunchDescription -- The launch description.
+    """
+    debug = LaunchConfiguration("debug")
+    params_file = LaunchConfiguration("params_file")
+
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "debug", default_value="False", description="Enable debug mode"
+            ),
+            DeclareLaunchArgument(
+                "params_file",
+                default_value=os.path.join(
+                    get_package_share_directory("ros2_example_package"),
+                    "config",
+                    "ros_params.yaml",
+                ),
+                description="Path to the ROS parameters file",
+            ),
+            Node(
+                package="ros2_example_package",
+                namespace="ros2_example",
+                executable="ros2_example_node",
+                name="ros2_example_node",
+                parameters=[
+                    {"debug": debug},
+                    params_file,
+                ],
+            ),
+        ]
+    )
diff --git a/models/model.pkl b/models/model.pkl
@@ -0,0 +1 @@
+...
diff --git a/package.xml b/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2_example_package</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="info@dhbw-smartrollerz.org">Smart Rollerz</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>